/*
legobot_motor.h
/*Created 2/14/09
Mark Allen Vismonte
A header file for the legobot_motor.c file
*/

#ifndef legobot_motor_h
#define legobot_motor_h

//Motor and Servo port declarations
/** \brief Arm motor port.
*/
#define ARM_MOTOR 0
//#define ARM_MOTOR 0

/** \brief Left motor port.
*/
#define L_MOTOR 1
//#define L_MOTOR 1

/** \brief Right motor port.
*/
#define R_MOTOR 2
//#define R_MOTOR 2

#define LEGOBOT_DIAMETER 17

#include "boolean.h"


void move(int velocityL, int velocityR);
void move_distance(float distance);
void turn_off(void);
void turn_arc(boolean leftArc, float outerRadius, int speed, float move_distance);
void turn_arc_degrees(boolean leftArc, float outerRadius, int speed, float degrees);
void move_direct_distance(int speed, float distance);
void lock_arms(void);
void release_arms(void);
void ice(void);
void bmd_motors(void);

/** \brief Used for \ref ice function to work properly.
	\see ice
*/
boolean doIce = false;

#endif
